CN111516755A - Steering wheel corner signal calibration method and corner zero position confirmation method - Google Patents
Steering wheel corner signal calibration method and corner zero position confirmation method Download PDFInfo
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- CN111516755A CN111516755A CN202010323785.1A CN202010323785A CN111516755A CN 111516755 A CN111516755 A CN 111516755A CN 202010323785 A CN202010323785 A CN 202010323785A CN 111516755 A CN111516755 A CN 111516755A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/021—Determination of steering angle
- B62D15/0245—Means or methods for determination of the central position of the steering system, e.g. straight ahead position
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Abstract
The invention relates to the technical field of automobile control, in particular to a steering wheel corner signal calibration method and a corner zero position confirmation method. The method comprises the steps of collecting a vehicle speed signal and a lateral acceleration signal in the driving process of a vehicle, calculating the steering wheel angle variation through the vehicle speed signal and the lateral acceleration signal, comparing the calculated value with the steering wheel angle variation detected through a steering wheel sensor, and if the error between the calculated value and the steering wheel angle variation is within a set range, determining that the detection of the steering wheel sensor is accurate, otherwise, determining that the detection is inaccurate. The invention can accurately judge whether the detection of the steering wheel sensor is accurate, and if not, the sensor can be calibrated, thereby providing the accuracy of the detection of the sensor.
Description
Technical Field
The invention relates to the technical field of automobile control, in particular to a steering wheel corner signal calibration method and a corner zero position confirmation method.
Background
The detection of the steering angle of the steering wheel of the automobile is a very important link for automatic driving, and the automatic driving can realize the steering movement of the automobile by controlling the steering angle of the steering wheel and can know or predict the movement state of the automobile by the steering angle of the steering wheel. Currently, the steering wheel angle of an automobile is detected by a steering wheel angle sensor, but the detection method can cause measurement errors due to aging of a sensing device, poor assembly of mechanical parts, looseness, unscheduled calibration and the like. Therefore, it is necessary to correct the steering wheel angle sensor measurement value to improve the accuracy of the steering wheel angle signal.
Disclosure of Invention
The present invention is directed to solve the above mentioned problems in the prior art, and provides a method for calibrating a steering wheel angle signal and a method for confirming a steering angle null.
The technical scheme of the invention is as follows: a method of calibrating a steering wheel angle signal, comprising: the method comprises the steps of collecting a vehicle speed signal and a lateral acceleration signal in the driving process of a vehicle, calculating the steering wheel angle variation through the vehicle speed signal and the lateral acceleration signal, comparing the calculated value with the steering wheel angle variation detected through a steering wheel sensor, and if the error between the calculated value and the steering wheel angle variation is within a set range, determining that the detection of the steering wheel sensor is accurate, otherwise, determining that the detection is inaccurate.
And further calculating the steering wheel angle variation according to the following formula according to the vehicle speed signal and the lateral acceleration signal:
wherein: sw-steering wheel angle;
v is vehicle speed;
l is the wheel base;
k-understeer gradient coefficient;
i-steering ratio;
ay — lateral acceleration;
the steering wheel angle in a period of time is calculated, and the variation of the steering wheel angle in the period of time can be obtained.
Further, when the error between the amount of change in the steering wheel angle calculated from the vehicle speed signal and the lateral acceleration signal and the amount of change in the steering wheel angle detected by the steering wheel sensor is 2% to 5%, the detection by the steering wheel sensor is considered to be accurate.
A steering wheel angle zero position confirmation method is characterized in that: after the detection of the steering wheel sensor is considered to be accurate through calibration, the lateral acceleration signal of the vehicle running is collected, and when the lateral acceleration signal meets the set requirement of the vehicle running in a straight line, the steering wheel rotating angle at the moment is at a zero position.
Further, when the lateral acceleration signal shows that the lateral acceleration of the automobile is 0 or is-0.2 m/s2In the range of-0.2 to 0.2m/s or in the range of 1 to 2s2Within the range, the vehicle may be considered to be traveling straight at this time.
The invention acquires the steering wheel angle variation obtained based on the lateral acceleration by collecting the vehicle speed and the lateral acceleration in the driving process of the vehicle, and judges whether the steering wheel angle variation is consistent with the steering wheel angle variation detected by the steering wheel sensor, thereby accurately judging whether the detection of the steering wheel sensor is accurate, and if the detection is not accurate, the sensor can be calibrated, thereby providing the detection accuracy of the sensor.
The calibration method can accurately calibrate the steering wheel sensor to obtain more accurate steering wheel angle signals, can more accurately acquire and predict the motion state of the vehicle, and improves the motion performance index of the intelligent networked automobile.
Drawings
FIG. 1: a flow chart for calibrating a steering wheel angle signal based on lateral acceleration.
Detailed Description
The invention is described in further detail below with reference to the figures and the specific embodiments.
The calibration method of the embodiment is to calculate the steering wheel angle variation in the driving process of the automobile by measuring the driving speed and the lateral acceleration of the automobile, compare the calculation result with the steering wheel angle variation actually measured by the steering wheel sensor, and if the error between the calculation result and the steering wheel angle variation is within a set range, determine that the detection result of the steering wheel sensor is accurate, otherwise, determine that the detection result is inaccurate and need to be corrected.
As shown in fig. 1, which is a calibration diagram of the present embodiment, when a vehicle is running, the vehicle speed and the lateral acceleration of the vehicle are respectively collected by a wheel speed sensor and a vehicle body electronic stability control system of the vehicle, and the rotation speed of a steering wheel is calculated according to the following formula:
wherein:sw-steering wheel angle;
v is vehicle speed obtained by a wheel speed sensor;
l-wheelbase, vehicle parameters;
k-understeer gradient coefficient, vehicle parameter;
i-steering ratio, vehicle parameters;
ay-lateral acceleration, obtained by the body electronic stability control system;
the steering wheel angle in a period of time is calculated, and the variation of the steering wheel angle in the period of time can be obtained.
And comparing the calculated steering wheel angle variation with the steering wheel angle variation detected by the steering wheel sensor, and if the error between the calculated steering wheel angle variation and the steering wheel angle variation is less than 5% (or any suitable value), determining that the detection of the steering wheel sensor is accurate, otherwise, determining that the sensor is inaccurate, and having a larger error, which needs to be corrected.
After the detection of the steering wheel sensor is considered to be accurate through calibration, collecting a lateral acceleration signal of vehicle running, and when the lateral acceleration signal shows that the lateral acceleration of the vehicle is 0 or-0.2 to E0.2m/s2(any suitable smaller value) or in the range of-0.2 to 0.2m/s within 1 to 2s2(any suitable smaller value) the vehicle can be considered to be traveling straight at this time. When the vehicle is determined to be traveling straight, it is confirmed that the steering wheel angle at that time is at the zero position.
The invention will now be elucidated in terms of practical situations: calibrating a vehicle with the age of 5 years, and acquiring a vehicle speed signal and a lateral acceleration signal of the vehicle when the vehicle normally runs to respectively obtain the vehicle speed of 10m/s and the lateral acceleration of 0m/s2Or at-0.2 to 0.2m/s2In the range of-0.2 to 0.2m/s or in the range of 1 to 2s2Within the range, the vehicle is considered to be in straight line running at the moment, and after t (any t) time, the vehicle speed signal of the vehicle is collected again to be 10m/s and the lateral acceleration signal is collected to be 3m/s2And calculating the steering wheel angle variation of the automobile to be 1.5 degrees, comparing the two steering wheel angle variations to find that the difference value of the two steering wheel angle variations is 0.2 degrees and is within a set error range, and determining that the steering wheel angle detection of the steering wheel sensor of the automobile is accurate, wherein the steering wheel angle variation acquired by the steering wheel sensor at the moment is 1.3 degrees.
And confirming the steering wheel corner zero position, collecting a lateral acceleration signal of the vehicle, when the lateral acceleration of the vehicle displayed by the lateral acceleration signal of the vehicle is 0, enabling the vocabulary vehicle to be in a straight-line running state, enabling the steering wheel corner at the moment to be just at the zero position, and recording the corner signal detected by the steering wheel sensor at the moment as the steering wheel corner zero position.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the present invention, and that various changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (5)
1. A method for calibrating a steering wheel angle signal is characterized in that: the method comprises the steps of collecting a vehicle speed signal and a lateral acceleration signal in the driving process of a vehicle, calculating the steering wheel angle variation through the vehicle speed signal and the lateral acceleration signal, comparing the calculated value with the steering wheel angle variation detected through a steering wheel sensor, and if the error between the calculated value and the steering wheel angle variation is within a set range, determining that the detection of the steering wheel sensor is accurate, otherwise, determining that the detection is inaccurate.
2. A steering wheel angle signal calibration method according to claim 1, wherein: and calculating the steering wheel angle according to the following formula according to the vehicle speed signal and the lateral acceleration signal:
wherein:sw-steering wheel angle;
v is vehicle speed;
l is the wheel base;
k-understeer gradient coefficient;
i-steering ratio;
ay-lateral acceleration;
the steering wheel angle in a period of time is calculated, and the variation of the steering wheel angle in the period of time can be obtained.
3. A steering wheel angle signal calibration method according to claim 1, wherein: when the error between the amount of change in the steering wheel angle calculated from the vehicle speed signal and the lateral acceleration signal and the amount of change in the steering wheel angle detected by the steering wheel sensor is 2% to 5%, the detection by the steering wheel sensor is considered to be accurate.
4. A steering wheel angle null confirmation method calibrated by the method of claim 1, wherein: after the detection of the steering wheel sensor is considered to be accurate through calibration, the lateral acceleration signal of the vehicle running is collected, and when the lateral acceleration signal meets the set requirement of the vehicle running in a straight line, the steering wheel rotating angle at the moment is at a zero position.
5. A steering wheel angle null confirmation method as claimed in claim 4 wherein: when the lateral acceleration signal shows that the lateral acceleration of the automobile is 0 or-0.2 m/s2In the range of-0.2 to 0.2m/s or in the range of 1 to 2s2Within the range, the vehicle may be considered to be traveling straight at this time.
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Cited By (3)
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| CN112278071A (en) * | 2020-10-13 | 2021-01-29 | 广州汽车集团股份有限公司 | Steering wheel angle calibration device and method |
| CN112455540A (en) * | 2020-11-30 | 2021-03-09 | 东风商用车有限公司 | Steering zero position identification method and system based on vehicle posture |
| CN112455541A (en) * | 2020-12-09 | 2021-03-09 | 杭州海康汽车软件有限公司 | Wheel corner determining method, device and equipment |
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Application publication date: 20200811 |